Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / kernel / ao_tracker.c

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9febc7f090cb6ac33197b40cc054b9ee216e8a39..9b007af82109defdc752e56cfcd375a374c5b1e6 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -36,9 +36,9 @@ ao_usb_connected(void)
 #endif
 
 struct gps_position {
-       int32_t latitude;
-       int32_t longitude;
-       int16_t altitude;
+       int32_t         latitude;
+       int32_t         longitude;
+       gps_alt_t       altitude;
 };
 
 #define GPS_RING       16
@@ -72,7 +72,7 @@ ao_tracker(void)
 #if !HAS_USB_CONNECT
        ao_tracker_force_telem = 1;
 #endif
-       ao_log_scan();
+       log_started = ao_log_scan();
 
        ao_rdf_set(1);
 
@@ -122,12 +122,13 @@ ao_tracker(void)
                        {
                                uint8_t ring;
                                uint8_t moving = 0;
+                               gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
 
                                for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
                                        ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
                                                                      gps_position[ring].latitude,
                                                                      gps_position[ring].longitude);
-                                       height = gps_position[ring].altitude - gps_data.altitude;
+                                       height = gps_position[ring].altitude - altitude;
                                        if (height < 0)
                                                height = -height;
 
@@ -153,7 +154,7 @@ ao_tracker(void)
                                        ao_log_gps_data(gps_tick, &gps_data);
                                        gps_position[gps_head].latitude = gps_data.latitude;
                                        gps_position[gps_head].longitude = gps_data.longitude;
-                                       gps_position[gps_head].altitude = gps_data.altitude;
+                                       gps_position[gps_head].altitude = altitude;
                                        gps_head = ao_gps_ring_next(gps_head);
                                        ao_mutex_put(&tracker_mutex);
                                }
@@ -180,8 +181,7 @@ void
 ao_tracker_erase_end(void)
 {
        if (erasing_current) {
-               ao_log_scan();
-               log_started = 0;
+               log_started = ao_log_scan();
                ao_mutex_put(&tracker_mutex);
        }
 }
@@ -203,7 +203,7 @@ ao_tracker_set_telem(void)
        printf ("log_started: %d\n", log_started);
        printf ("latitude: %ld\n", (long) gps_data.latitude);
        printf ("longitude: %ld\n", (long) gps_data.longitude);
-       printf ("altitude: %d\n", gps_data.altitude);
+       printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
        printf ("log_running: %d\n", ao_log_running);
        printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
        printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);